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feat(visualization): mask for unused voxels #18

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merged 3 commits into from
Nov 21, 2023
Merged

feat(visualization): mask for unused voxels #18

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45310cd
feat(visualization): mask for unused voxels
pmokeev Nov 21, 2023
72a7f76
fix(ci): fix black issue
pmokeev Nov 21, 2023
728f892
fix(visualization): fix unused voxels representation
pmokeev Nov 21, 2023
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25 changes: 19 additions & 6 deletions octreelib/grid/grid.py
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Original file line number Diff line number Diff line change
Expand Up @@ -161,24 +161,37 @@ def visualize(self, config: VisualizationConfig = VisualizationConfig()) -> None
plot = k3d.Plot()
random.seed(config.seed)
poses_numbers = self.__pose_voxel_coordinates.keys()
unused_voxel_color = 0x000000 # Black

if config.type is GridVisualizationType.POSE:
for pose_number in poses_numbers:
color = random.randrange(0, 0xFFFFFF)
points = self.get_points(pose_number=pose_number)
leaves = self.get_leaf_points(pose_number=pose_number)
for leaf in leaves:
if (
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leaf.id < len(config.voxels_mask)
and not config.voxels_mask[leaf.id]
):
color = unused_voxel_color

plot += k3d.points(
positions=points,
point_size=config.point_size,
color=color,
)
plot += k3d.points(
positions=leaf.get_points(),
point_size=config.point_size,
color=color,
)
elif config.type is GridVisualizationType.VOXEL:
voxels_colors = {}
for pose_number in poses_numbers:
leaves = self.get_leaf_points(pose_number=pose_number)
for leaf in leaves:
if leaf.id not in voxels_colors.keys():
color = random.randrange(0, 0xFFFFFF)
if (
leaf.id < len(config.voxels_mask)
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and not config.voxels_mask[leaf.id]
):
color = unused_voxel_color

voxels_colors[leaf.id] = color

plot += k3d.points(
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2 changes: 2 additions & 0 deletions octreelib/grid/grid_base.py
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Expand Up @@ -36,6 +36,7 @@ class VisualizationConfig:
line_color: Represents color of voxels lines in Grid
visualization_filepath: Path to produced `.html` file
visualization_seed: Represents random seed for generating colors
voxels_mask: Represents mask of voxels which were used on optimisation stage
"""

type: GridVisualizationType = GridVisualizationType.VOXEL
Expand All @@ -44,6 +45,7 @@ class VisualizationConfig:
line_color: int = 0xFF0000
filepath: str = "visualization.html"
seed: int = 0
voxels_mask: List[bool] = field(default_factory=list)
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@dataclass
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